In a small cup or tea bowl, combine the powdered matcha, packed brown sugar, vanilla extract, and hot water. Whisk vigorously in a zigzag motion using a tea whisk, or alternatively, use a handheld frother or shake in a lidded jar until the mixture is smooth and frothy.

Fill a separate serving cup with ice cubes. Pour in the cold milk and add a dash of ground cinnamon. Give it a gentle stir to combine the flavors.

Carefully pour the frothy matcha mixture (from Step 1) over the iced milk base (from Step 2). Mix together with a spoon or straw to fully blend the flavors and enjoy immediately. I like to give it an extra stir right before drinking so every sip is balanced and flavorful!